未知环境下不确定遥操作系统的自适应控制  

Adaptive Control for Uncertain Tele-operation System in Unknown Environment

作　　者：刘永[1] 郑鹏[1] 丑武胜[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《控制工程》2015年第6期1063-1068,共6页Control Engineering of China

基　　金：国家重大科研计划专项磁约束热核聚变堆遥操作维护机器人系统(2012GB102006);国家重点基础研究发展计划(02013CB035503);国家高技术研究发展计划(2011AA040201)

摘　　要：针对遥操作系统所处未知扰动环境建模的问题,提出一种无环境力反馈的具有扰动补偿能力的自适应控制器,并将其与双边控制结构相结合。首先,建立了受未知环境不确定性影响的遥操作系统非线性动力学模型,设计了自适应扰动补偿方法,利用自适应神经网络处理未知环境模型的问题,进而给出了时延上界和时延变化率上界已知情况下系统渐进稳定的充分条件。仿真实验结果表明,所设计的控制器能够保证良好的位置跟踪能力,环境适应性强,证明了方法的有效性。This paper introduces a new force sensorless adaptive controller with disturbance compensation, which can be implemented with bilateral control architecture. The controller is proposed to address teleoperation system with asymmetric varying time delays and unknown stiffness models of operator and remote environment. To design the controller, we first develop the nonlinear dynamic model for teleoperation system that is disturbed with internal parametric uncertainties and external disturbances, and then the adaptive disturbance compensation scheme is designed. Then, neural networks are employed to overcome the problem of unknown stiffness models. Based on those developments, the sufficient condition for asymptotically stable can be derived as the upper bounds of delays and their varying rates are available. Theoretical analysis and simulation studies show that the proposed controller can guarantee asymptotical stability of the system and has a good performance in position tracking and adaptability to environment, which demonstrates the effectiveness of the proposed scheme.

关 键 词：遥操作系统 未知环境 自适应控制 自适应神经网络 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]